The STORM system was developed to provide 3-dimensional sensing
for the Dante Volcano Explorer and Navlab robots. The purpose of
this system was to provide high
quality, medium-resolution range images at reasonable (for the time)
rates. By carefully controlling the camera geometry and by using
multi-baseline techniques developed by
Dr Takeo Kanade, we produced a very effective, practical stereo
system which has been of great use in a variety of robotic applications.